High intensity vibration testing using an empirically modified reference specification and method thereof

ABSTRACT

An acoustic or mechanical vibration testing system includes a MIMO control system coupled to at least two separately controllable groups of vibration transducers and at least two control sensor transducers wherein the number of control sensor transducers need not be equal to the number of controller output drives or number of separately controllable groups of vibration transducers. The MIMO control system utilizes both a predetermined initial reference specification and a modified reference specification, wherein data acquired during system operation under conventional MIMO control is used to create the modified reference specification based on actual system performance and limitations thereof so as to maintain closer correspondence to the predetermined initial reference specification with less required system drive power, as a function of the predetermined initial reference, and less risk of damage to the test system and the test article during the performance of a test.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.16/748,091, filed Jan. 21, 2020, which claims priority to U.S.Provisional Application No. 62/794,564, filed Jan. 19, 2019, thecontents of each of which are incorporated by reference herein in theirentirety.

BACKGROUND OF THE INVENTION

The present invention relates generally to the field of vibrationtesting of objects such as satellites, instrumentation or any otherobject whose reliability in operation may be evaluated using highintensity vibration testing. Specifically, the present invention relatesto the use of either: direct field or reverberant chamber (acoustic)testing systems; or multiple-exciter (where an exciter can either be anelectro-hydraulic actuator, electro-dynamic shaker, ceramic shaker, orcollections of such vibration transducers) (mechanical) testing systemsto perform vibration testing. The present invention further relates tocontrols to enable acoustic testing systems to produce an acoustic fieldconforming to a predetermined initial reference specification andmechanical testing systems to produce vibration responses conforming toa predetermined initial reference specification.

BACKGROUND OF THE INVENTION

In the fields of acoustic vibration testing, it is desirable to controlnumerous parameters of the acoustic response field or the responsevibrations according to a predetermined reference specification. In atypical MIMO DFAT control system 100, as described in U.S. Pat. No.9,109,972 [3], which is incorporated by reference herein in itsentirety, and also shown by the herein included FIG. 1, a referencespecification is typically provided that contains the desiredpredetermined acoustic field parameters. During operation the systemwill make adjustments to the drive signals for multiple groups ofindependently controllable transducers so that the resulting acousticfield will match as closely as possible the predetermined acoustic fieldspecifications contained in the reference (i.e., the predeterminedreference specification). However, the predetermined acoustic fieldspecifications typically ignore the real-world constraints of the testsystem, its components and the test facility itself. For example, andnot by way of limitation, the predetermined acoustic field specificationmay contain relative coherence values in its off-diagonal elements,which cannot be achieved due to physical limitations in the test system,which are thereby ignored. As a result, during operation, adjustments tothe drive signals may fail to yield an acceptable test response and mayexceed the capabilities of the system leading to self-limiting bycomponents of the test system with the potential for damage to thesystem components or the test article itself.

Similarly, in the field of mechanical vibration testing, it is alsodesirable to control numerous parameters of the mechanical vibrationtest according to a predetermined reference specification. In a typicalMultiple Input Multiple Output (MIMO) mechanical vibration test controlsystem 100, as described in FIG. 2 of U.S. Pat. No. 5,299,459 [15],which is incorporated by reference herein in its entirety, and also bythe herein included FIG. 1 , a reference specification is typicallyprovided that contains the desired predetermined mechanical vibrationtest parameters. During operation of the system 100, by way of exampleand not of limitation, a MIMO mechanical vibration controller 110 willmake adjustments to the drive signals for multiple groups of separatelycontrollable exciters so that the resulting mechanical vibration testresponses will match as closely as possible the predetermined mechanicalvibration test specifications contained in the reference specification(i.e. the predetermined reference specification). However, thepredetermined mechanical vibration test specifications also typicallyignore the real-world constraints of the test system and its components,as in the example provided above with respect to acoustic testing. As aresult, during operation, adjustments to the drive signals may exceedthe capabilities of the mechanical vibration test system leading toself-limiting by components of the test system, failure to meet thespecified test parameters and possible damage to the system componentsor the test article itself.

In either mechanical or acoustic MIMO vibration control systems, thedegree to which the actual test conditions fail to meet the specifiedtest parameters depends on many factors including, by way of example andnot of limitation, the real-world constraints imposed by the system'smaximum output capabilities, non-linear response characteristics and/ortime variability in test systems characteristics, limitations of thetransducers or exciters employed, as well as constraints imposed by theMIMO vibration test facility and/or associated limitations of the MIMOvibration control system itself. These limitations may, collectively,contribute to substantial discrepancies between the actual test responseand the specified test parameters leading to unreliable test results,excessive system drive power being required, damage to the systemcomponents or damage to the test article itself through “over-testing”,in attempts by the MIMO vibration control system to overcome theselimitations.

Methods such as those described in [2, 4, 8, 9, 10, 11, 12, 13, 14, 15,16] have mainly focused on establishing limits to prevent the testsystem from damaging itself or from damaging the test article. Thoseskilled in the art will be familiar with various methods forimplementing limiters including establishment of maximum safe levels fordrive signals and feedback to system limiters from test articleinstrumentation. Although these limiters do reduce the risk of testsystem damage and some forms of over-testing, they also significantlyreduce the maximum capability of the testing system and facility andfail to make any adjustments to the initial test specification toaccommodate the actual performance limitations of the test system andfacility.

Accordingly it would be advantageous to provide MIMO acoustic ormechanical vibration control systems with the ability to modify thepredetermined reference specification, for either conventional squarecontrol or rectangular control [12], according to an empiricallydetermined set of compromises based on the collective limitations of aparticular test setup. By using the modified reference specificationduring actual test operation, an improved match between the test systemresponse and the predetermined reference specification is achieved withless required system drive power, increased overall capability, andreduced risk of damage to the system components or test articleregardless of which MIMO vibration control methodology is employed.

REFERENCES

-   1. Underwood, Marcos A., “Applications of Digital Control Techniques    to High Level Acoustic Testing,” 31st Aerospace Testing Seminar;    22-25 Oct. 2018; Los Angeles, CA; United States-   2. Musella et al., “Tackling the target matrix definition in MIMO    Random Vibration Control testing,” 30th Aerospace Testing Seminar;    March 2017; Los Angeles, CA; United States-   3. Larkin et al., “Direct Field Acoustic Test System and Method,”    U.S. Pat. No. 9,109,972, Aug. 18, 2015.-   4. Smallwood, David O., “The challenges of multiple input vibration    testing and analysis,” Presented at the Experimental and Analytical    joint HOCWOG, Los Alamos National Labs, May 20, 2013,    https://www.osti.gov/servlets/purl/1095931-   5. Larkin et al., “Status of Direct Field Acoustic Testing,” 27th    Aerospace Testing Seminar; 16-18 Oct. 2012; Los Angeles, CA-   6. Maahs, Gordon, “Direct Field Acoustic Test (DFAT) Development and    Flight Testing of Radiation Belt Storm Probe (RBSP) Satellites,”    27th Aerospace Testing Seminar; 16-18 Oct. 2012; Los Angeles, CA;    United States-   7. Hughes et al., “The Development of the Acoustic Design of NASA    Glenn Research Center's New Reverberant Acoustic Test Facility,”    26th Aerospace Testing Seminar; 29-31 Mar. 2011; Los Angeles, CA;    United States-   8. Underwood et al., “Some Aspects of using Measured Data as the    Basis of a Multi-Exciter Vibration Test,” Proceedings of the    IMAC-XXVIII, Feb. 1-4, 2010, Jacksonville, Florida USA-   9. Underwood, Marcos A., “Digital Control Systems for Vibration    Testing Machines,” Shock and Vibration Handbook, 6th ed., Chapter    26, Edited by Piersol et al., T. L., McGraw-Hill, New York, 2009-   10. Underwood et al., “MIMO Testing Methodologies,” Proceedings of    the 79th Shock & Vibration Symposium, October 2008; Orlando, Florida-   11. Smallwood, David O., “Multiple-Input Multiple-Output (MIMO)    linear systems extreme inputs/outputs,” Shock and Vibration, Vol.    14, No. 2, (2007) pp 107-132.-   12. Underwood et al., “Rectangular Control of Multi-Shaker Systems;    Theory and some practical results,” Journal and    Proceedings—Institute of Environmental Sciences and Technology,    April 2003-   13. Underwood, Marcos A., “Applications of Computers to Shock and    Vibration,” Shock and Vibration Handbook, 5th Ed., Chapter 27,    Edited by Harris, C. M., and Piersol, A. G., McGraw-Hill, New York,    2001-   14. Underwood, Marcos A., Adaptive Control Method and System for    Transient Waveform Testing. U.S. Pat. No. 5,517,426, May 14, 1996.-   15. Underwood, Marcos A., Adaptive Control Method and System for    MultiExciter Swept-Sine Testing. U.S. Pat. No. 5,299,459, Apr. 5,    1994.-   16. Underwood, Marcos A., Digital Signal Synthesizer Method and    System, U.S. Pat. No. 4,782,324, Nov. 1, 1988.

BRIEF SUMMARY OF THE INVENTION

Embodiments hereof include an acoustic or mechanical vibration testingsystem including a MIMO control system coupled to at least twoseparately controllable groups of vibration transducers and at least twocontrol sensor transducers wherein the number of control sensortransducers need not be equal to the number of controller output drivesor number of separately controllable groups of vibration transducers.The MIMO control system utilizes both a predetermined initial referencespecification and a modified reference specification, wherein dataacquired during system operation under conventional MIMO control is usedto create the modified reference specification based on actual systemperformance and limitations thereof so as to maintain closercorrespondence to the predetermined initial reference specification(predetermined initial acoustic field specification or predeterminedinitial mechanical vibration specification) with less required systemdrive power, as a function of the predetermined initial reference, andless risk of damage to the test system and the test article during theperformance of a test.

Embodiments hereof also include an acoustic or mechanical vibrationtesting system including a MIMO control system coupled to at least twoseparately controllable groups of vibration transducers and at least twocontrol sensor transducers wherein the number of control sensortransducers need not be equal to the number of controller output drivesor number of separately controllable groups of vibration transducers.The MIMO control system utilizes both a predetermined initial referencespecification and a modified reference specification, wherein aniterative feedback process, which can either be manually by user orautomatically by calculation, is used to create the modified referencespecification based on actual system performance and limitations thereofso as to maintain closer correspondence to the predetermined initialreference specification (predetermined initial acoustic fieldspecification or predetermined initial mechanical vibrationspecification) with less required system drive power, as a function ofthe predetermined initial reference, and less risk of damage to the testsystem and the test article during the performance of a test.

Embodiments hereof also include an acoustic or mechanical vibrationtesting system including a MIMO control system coupled to at least twoseparately controllable groups of vibration transducers and at least twocontrol sensor transducers wherein the number of control sensortransducers need not be equal to the number of controller output drivesor number of separately controllable groups of vibrations transducers.The MIMO control system utilizes both a predetermined initial referencespecification and a modified reference specification wherein dataacquired during system operation under conventional MIMO control is usedto create the modified reference specification based on actual systemperformance and limitations thereof and wherein the modified referencespecification is stored using a suitable data recording device so as tobe available for future use as a reference specification by similar testsystem arrangements so as to maintain closer correspondence to thepredetermined initial reference specification (predetermined initialacoustic field specification or predetermined initial mechanicalvibration specification) with less required system drive power, as afunction of the predetermined initial reference, and less risk of damageto the test system and the test article during the performance of atest.

Embodiments hereof also include an acoustic or mechanical vibrationtesting system including a MIMO control system coupled to at least twoseparately controllable groups of vibration transducers and at least twocontrol sensor transducers wherein the number of control sensortransducers need not be equal to the number of controller output drivesor the number of separately controllable groups of vibrationtransducers. The MIMO control system utilizes both a predeterminedinitial reference specification and a modified reference specificationwherein data acquired during system operation under conventional MIMOcontrol is used to create the modified reference specification based onactual system performance and limitations thereof and wherein a loaderis used for loading a previously stored modified reference from astorage device to replace the predetermined initial referencespecification during actual testing so as to maintain closercorrespondence to the predetermined initial reference specification(predetermined initial acoustic field specification or predeterminedinitial mechanical vibration specification) with less required systemdrive power, as a function of the predetermined initial reference, andless risk of damage to the test system and the test article during theperformance of a test.

Embodiments hereof also include an acoustic or mechanical vibrationtesting system comprising a MIMO control system coupled to at least twoseparately controllable groups of vibration transducers and at least twocontrol sensor transducers wherein the number of control sensortransducers need not be equal to the number of controller output drivesor the number of separately controllable groups of vibrationtransducers. The MIMO control system utilizes both a predeterminedinitial reference specification and a modified reference specificationwherein data acquired during system operation under conventional MIMOcontrol is used to create the modified reference specification based onactual system performance and limitations thereof and wherein apreviously stored modified reference is used to replace thepredetermined initial reference specification and an iterative feedbackprocess is used to further modify the previously stored modifiedreference specification and the further modified reference specificationis used during actual testing so as to maintain closer correspondence tothe predetermined initial reference specification (predetermined initialacoustic field specification or predetermined initial mechanicalvibration specification) with less required system drive power, as afunction of the predetermined initial reference, and less risk of damageto the test system and the test article during the performance of atest.

Embodiments hereof also include an acoustic or mechanical vibrationtesting system including a MIMO control system coupled to at least twoseparately controllable groups of vibration transducers and at least twocontrol sensor transducers wherein the number of control sensortransducers need not be equal to the number of controller output drivesor the number of separately controllable groups of vibrationtransducers. The MIMO control system utilizes both a predeterminedinitial reference specification and a modified reference specificationwherein the modified reference specification includes modifications toaccount for anomalies due to placement of the separately controllablegroups of vibration transducers or control sensor transducers, orinstrumentation errors such as, by way of example and not of limitation,poor phase and amplitude matching between input channels, low coherencebetween the separately controllable vibration transducer drive vectorsand control point response vectors, and dynamic range limitations of thecontroller input and output channels so as to maintain closercorrespondence to the predetermined initial reference specification(predetermined initial acoustic field specification or predeterminedinitial mechanical vibration specification) with less required systemdrive power, as a function of the predetermined initial reference, andless risk of damage to the test system and the test article during theperformance of a test.

Embodiments hereof also include an acoustic or mechanical vibrationtesting system including a MIMO control system coupled to at least twoseparately controllable groups of vibration transducers and at least twocontrol sensor transducers wherein the number of control sensortransducers need not be equal to the number of controller output drivesor number of separately controllable groups of vibration transducers.The MIMO control system utilizes both a predetermined initial referencespecification and a modified reference specification wherein themodified reference specification includes modifications to account foranomalies due to nonlinear and time variant characteristics of theacoustic field so as to maintain closer correspondence to thepredetermined initial reference specification (predetermined initialacoustic field specification or predetermined initial mechanicalvibration specification) with less required system drive power, as afunction of the predetermined initial reference, and less risk of damageto the test system and the test article during the performance of atest.

Embodiments hereof also include an acoustic or mechanical vibrationtesting system including a MIMO control system coupled to at least twoseparately controllable groups of vibration transducers and at least twocontrol sensor transducers wherein the number of control sensortransducers need not be equal to the number of controller output drivesor number of separately controllable groups of vibration transducers.The MIMO control system utilizes both a predetermined initial referencespecification and a modified reference specification wherein dataacquired during system operation under conventional MIMO control is usedto create the modified reference specification based on actual systemperformance and limitations thereof and wherein the modifications to thepredetermined initial reference specification do not change the diagonalelements (spectral reference vector) of the predetermined initialreference specification matrix (SDM) so as to maintain closercorrespondence to the predetermined initial reference specification(predetermined initial acoustic field specification or predeterminedinitial mechanical vibration specification) with less required systemdrive power, as a function of the predetermined initial reference, andless risk of damage to the test system and the test article during theperformance of a test.

Embodiments hereof also include an acoustic or mechanical vibrationtesting system including a MIMO control system coupled to at least twoseparately controllable groups of vibration transducers and at least twocontrol sensor transducers wherein the number of control sensortransducers need not be equal to the number of controller output drivesor number of separately controllable groups of vibration transducers.The MIMO control system utilizes both a predetermined initial referencespecification and a modified reference specification wherein data fromactual control sensor responses during system operation underconventional MIMO control is used to further modify a previouslymodified reference specification based on actual system performance andlimitations thereof so as to maintain closer correspondence to thepredetermined initial reference specification (predetermined initialacoustic field specification or predetermined initial mechanicalvibration specification) with less required system drive power, as afunction of the predetermined initial reference, and less risk of damageto the test system and the test article during the performance of atest.

Embodiments hereof also include an acoustic or mechanical vibrationtesting system including a MIMO control system coupled to at least twoseparately controllable groups of vibration transducers and at least twocontrol sensor transducers wherein the number of control sensortransducers need not be equal to the number of controller output drivesor number of separately controllable groups of vibration transducers.The MIMO control system utilizes both a predetermined initial referencespecification and a modified reference specification wherein dataacquired during system operation under conventional MIMO control is usedto create a modified reference specification based on actual systemperformance and limitations thereof in such a way that the resultingmatrix describing the modified reference specification is both at leastpositive semi-definite and Hermitian so as to maintain closercorrespondence to the predetermined initial reference specification(predetermined initial acoustic field specification or predeterminedinitial mechanical vibration specification) with less required systemdrive power, as a function of the predetermined initial reference, andless risk of damage to the test system and the test article during theperformance of a test.

Embodiments hereof also include an acoustic or mechanical vibrationtesting system including a MIMO control system coupled to at least twoseparately controllable groups of vibration transducers and at least twocontrol sensor transducers wherein the number of control sensortransducers need not be equal to the number of controller output drivesor number of separately controllable groups of vibration transducers.The MIMO control system utilizes a predetermined initial referencespecification, expressed as a spectral density matrix [G_(rr)(f)],measured control location responses during operation under conventionalMIMO control represented by a spectral density matrix [G_(cc)(f)], and amodified reference specification expressed as a modified spectraldensity matrix [G_(mod_rr)(f)], wherein the diagonal elements of themodified spectral density matrix [G_(mod_rr)(f)] are the same as in[G_(rr)(f)] and wherein each of the below diagonal elements of[G_(mod_rr)(f)] are equal to the below diagonal elements of [G_(cc)(f)]multiplied by a factor, [K_(ijk)], which is a ratio that isrepresentative of the product between each control location pair impliedby the predetermined initial reference specification divided by theproduct between each control location pair implied by the actualmeasured control location responses during low level operation, andwherein the above diagonal rows of [G_(mod_rr)(f)] are equal to thecorresponding transposed complex conjugates of the below diagonalcolumns (whose elements have reversed column-row indices) therebyincorporating the real world performance characteristics of the testsystem and facility into the test specification so as to maintain closercorrespondence to the predetermined initial reference specification(predetermined initial acoustic field specification or predeterminedinitial mechanical vibration specification) with less required systemdrive power, as a function of the predetermined initial reference, andless risk of damage to the test system and the test article during theperformance of a test.

Embodiments hereof also include an acoustic or mechanical vibrationtesting system including a MIMO control system coupled to at least twoseparately controllable groups of vibration transducers and at least twocontrol sensor transducers wherein the number of control sensortransducers need not be equal to the number of controller output drivesor number of separately controllable groups of vibration transducers.The MIMO control system utilizes a predetermined initial referencespecification, which has been manually modified, using its existingpredetermined initial reference specification entry software, expressedas a spectral density matrix [G_(rr)(f)], wherein some or all of itsoff-diagonal elements are chosen to have their equivalent coherencevalues increased “slightly,” e.g. typically by adding 0.005 to 0.05 totheir original values or some other small quantity that the testengineer considers a tolerable modification of the off-diagonal elementsof the predetermined initial reference specification consistent with theoverall specified test tolerances, to reduce the required drive powerover a chosen frequency range, which are typically the lowestfrequencies, more than possible with the same system/method withoutusing the manually modified predetermine initial referencespecification, at the expense of tolerable losses in subsequent controlaccuracy, where typically the larger the increase in coherence thelarger the loss in control accuracy. Utilizing this thus manuallymodified predetermined initial reference specification [G_(rr)(f)], theMIMO control system also utilizes measured control location responsesduring operation under conventional MIMO control represented by aspectral density matrix [G_(cc)(f)], and a modified referencespecification expressed as a modified spectral density matrix[G_(mod_rr)(f)], wherein the diagonal elements of the modified spectraldensity matrix [G_(mod_rr)(f)] are the same as in [G_(rr)(f)] andwherein each of the below diagonal elements of [G_(mod_rr)(f)] are equalto the below diagonal elements of [G_(cc)(f)] multiplied by a factor,[K_(ijk)], which is a ratio that is representative of the productbetween each control location pair implied by the predetermined initialreference specification divided by the product between each controllocation pair implied by the actual measured control location responsesduring low level operation, and wherein the above diagonal rows of[G_(mod_rr)(f)] are equal to the corresponding transposed complexconjugates of the below diagonal columns thereby incorporating the realworld performance characteristics of the test system and facility intothe test specification so as to maintain closer correspondence to thepredetermined initial reference specification (predetermined initialacoustic field specification or predetermined initial mechanicalvibration specification) with a greater reduction in required systemdrive power, as a function of the modifications to the predeterminedinitial reference, and less risk of damage to the test system and thetest article during the performance of a test.

BRIEF DESCRIPTION OF DRAWINGS

The foregoing and other features and advantages of the invention will beapparent from the following description of embodiments hereof asillustrated in the accompanying drawings. The accompanying drawings,which are incorporated herein and form a part of the specification,further serve to explain the principles of the invention and to enable aperson skilled in the pertinent art to make and use the invention. Thedrawings are not to scale.

FIG. 1 is a simplified block diagram of typical MIMO vibration testingsystems for acoustic or mechanical testing.

FIG. 2 a is a simplified block diagram of an enhanced MIMO vibrationtesting systems for acoustic or mechanical testing in accordance withembodiments of the present invention.

FIG. 2 b is a detailed block diagram of an enhanced MIMO vibrationtesting system for acoustic vibration testing in accordance withembodiments of the present invention.

FIG. 2 c is a detailed block diagram of an enhanced MIMO vibrationtesting system for mechanical vibration testing in accordance withembodiments of the present invention.

FIG. 3 is a simplified block diagram of an enhanced MIMO Acoustic orMechanical Vibration Testing System similar to that shown in FIG. 2 a inaccordance with the present invention which shows the use of apreviously stored modified reference specification from a previous testrun to replace the current or predetermined initial referencespecification or to be further modified via the feedback process shownin FIG. 2 a.

FIG. 4 shows a block diagram of how the current reference spectraldensity matrix (SDM), [G_(rr)(f)], and the current control-response SDM,[G_(cc)(f)], using either conventional or rectangular control, are usedto produce the Modified reference SDM: [G_(mod_rr)(f)], either usingfeedback from a previously Modified Reference SDM or the predeterminedinitially specified Reference SDM as shown by FIGS. 2 a, 2 b, 2 c , andFIG. 3 .

FIG. 5 a shows an example of a spectral density matrix (SDM),[G_(rr)(f)], representing the predetermined initial referencespecification for a test.

FIG. 5 b shows an example of an SDM, [G_(cc)(f)], representing theactual measured responses at the control locations during operation at alevel substantially below the full test level once a stable operatingconfiguration is achieved.

FIG. 5 c shows the detailed calculations of how the elements of themodified reference SDM, [G_(mod_rr)(f_(k))], are obtained.

FIG. 6 a shows a comparison of the average of the diagonal elements ofthe control-response SDM, [G_(cc)(f)], obtained with an unmodified MIMOAcoustic Vibration Controller using a Mixer to achieve rectangularcontrol in conjunction with certain MIMO controllers that operate withsquare control, but with provisions for the Mixer, as described in U.S.Pat. No. 9,683,912 B2, which is incorporated by reference herein in itsentirety, shown by its solid traces, and with an enhanced MIMO AcousticVibration Controller also using a mixer, shown by its dashed traces, asin FIG. 2 b.

FIG. 6 b shows a comparison of the average of the diagonal elements ofthe control-response SDM, [G_(cc)(f)], obtained with an unmodified MIMOAcoustic Vibration Controller, during another test, using a mixer toachieve rectangular control in conjunction with certain MIMO controllersthat operate with square control, but with provisions for the mixershown by its solid trace, as in FIG. 6 a , and with an enhanced MIMOAcoustic Vibration Controller, but this time using rectangular controland no mixer, to show the improvement in the control performance thatthe invention further provides, shown by its dashed trace.

FIG. 6 c shows a comparison of the achieved relative control-responsecoherence showing improvements in the achieved coherence controlperformance of embodiments of the present invention, where again thecomparison is shown, as in FIG. 6 a , with a similar use of the solidand dashed trace.

FIG. 7 shows a comparison of the required system drive power, in theform of PSDs for each of 4 drives, between two runs of the same generalDFAT test, where the first run uses a modified reference specificationobtained with an unmodified predetermined initial referencespecification shown by the solid trace, and where the second run uses amodified reference specification obtained with a manually modifiedpredetermined initial reference specification shown by the dashed trace.

DETAILED DESCRIPTION OF THE INVENTION

Embodiments hereof are now described with reference to the Figures wherelike reference characters/numbers indicate identical or functionallysimilar elements. While specific configurations and arrangements arediscussed, it should be understood that this is done for illustrativepurposes only. A person with ordinary skill in the relevant art willrecognize that other configurations and arrangements can be used withoutdeparting from the spirit and scope of the invention.

Referring to FIG. 2 a and FIG. 3 , a simplified block diagram of anenhanced MIMO vibration testing system 200 in accordance with oneembodiment of the present invention is shown. Referring to FIG. 2 a ,the MIMO vibration testing system 200 includes a conventional MIMOVibration Controller 210, a System Under Test 220, a control feedbackloop 230, computing means for developing a modified or updated referencespecification 240, and storage means for storing the modified or updatedreference specification 250. Referring to FIG. 2 a , as will beunderstood by those with ordinary skill in the art, the System UnderTest 220 includes at least a device under test (DUT), a physical testenvironment, groups of mechanical or acoustic vibration transducers forproviding excitation for the DUT, and control sensor transducers formonitoring the performance of the system. Referring again to FIG. 2 a ,the MIMO Vibration Controller 210 has a number of inputs for receivingsignals from control sensor transducers M located in the System UnderTest 220. The number of inputs M may be any number greater than or equalto two, but is typically between four and twenty-four. The controlsensor transducers in the System Under Test 220 may be controlmicrophones in an acoustic testing system, shake table or test articlecontrol accelerometers in a mechanical testing system, or other controlsensors that measure response to the drives. The MIMO VibrationController 210 also has a number of outputs or drives N, for providingdrive signals to the separately controllable groups of acoustic ormechanical vibration transducers located in the System Under Test 220.The number of outputs or drives N may be any number greater than orequal to two but is typically between four and sixteen. Further, thenumber of outputs N is less than or equal to the number of inputs M. Aswill be understood by those with ordinary skill in the art, the numberof inputs from the control sensor transducers M will be equal to thenumber of drives N for conventional square MIMO control, whereas thenumber of inputs from the control sensor transducers M will be greaterthan the number of outputs or drives N for rectangular MIMO control.Either square or rectangular MIMO control may be used with the presentinvention. The control feedback loop 230 may be incorporated into theMIMO Vibration Controller 210 and provides feedback signals to the MIMOVibration Controller 210 based on a comparison of the signals from thecontrol sensor transducers M received by the MIMO Vibration Controller210 to a predetermined initial reference specification during operationof the system 200 at a level substantially lower than a full test level.The term “substantially lower than a full test level” means between 6 dB(½ of full level) and 24 dB ( 1/16 of full level) below full test level,where “full-test level” is the maximum sound pressure level foracoustic, typically in SPL units, or the maximum vibration level formechanical, typically in Grms units, during a vibration pre-test asdefined by the predetermined initial reference specification. Providingthe feedback signals during operation of the system 200 at a levelsubstantially below the full test level enables the determination ofwhen the system has arrived at a stable operating configuration whereinthe differences between the actual measured responses of the controlsensor transducers M and the predetermined initial referencespecification fall below the operator specified preset thresholds orwherein observation indicates that further operation is unlikely toproduce significantly better correspondence between the control sensortransducer signals M and the predetermined initial referencespecification. Once the stable operating configuration is achieved, themodified or updated reference specification 240 is created as discussedbelow and stored in the modified reference specification storage 250.The modified reference specification storage 250 may be any applicablestorage medium, such as a Hard Drive or Solid State drive, used withinconventional computer systems.

Referring to FIG. 2 b , by way of example and not of limitation, a moredetailed diagram of an enhanced MIMO vibration testing system 200 foracoustic testing in accordance with embodiments of the present inventionis shown. Blocks with reference numbers the same as other Figures arethe same and perform the same functions as previously described. In theexample shown in FIG. 2 b , the system under test includes 16 acoustictransducers 222 and 24 microphones M as the control sensor transducersdescribed above. However, as described above, there may be more or feweracoustic transducers 222 and control microphones M. The enhanced MIMOvibration testing system 200 described in FIG. 2 b functions asdescribed previously in the description of simplified diagram FIG. 2 a .However, as will be understood by those with ordinary skill in the art,the enhanced MIMO testing system shown in FIG. 2 b is specificallyconfigured for acoustic testing and includes a mixing and filteringsubsystem 380 such as is disclosed in U.S. Pat. No. 9,683,912, which isincorporated by reference herein in its entirety, but where the mixingcould be implemented more simply by a signal distribution subsystem andthe filtering could be incorporated within the loud-speakers. As willalso be understood by those with ordinary skill in the art the mixing ofN output drives 370 to deliver a smaller number of unique drive signals390 to the acoustic transducers 222 can be used as part of animplementation of rectangular control within a MIMO control systemcapable compensating for the effects of reducing the number of uniquedrives 390. The reference numbers 270, 280, 290, and 300 identify theprocessing blocks needed to measure the control response SDM [G_(cc)(f)]300. The reference numbers 340, 350, 360, and 370 identify theprocessing blocks used to create the MIMO control system's 200 16output-drives 370. The reference numbers 310, 320, and 330 identify theprocessing blocks used to create the control reference SDM [G_(rr)(f)]330. The reference numbers 400 and 410 are blocks for the creation ofthe nth octave version of [G_(cc)(f)] 400 and its alarm and errorchecking block 410. The graphics subsystem 420 is to display the testresults for the test engineer (system user) to view.

Referring to FIG. 2 c , a more detailed diagram of an enhanced MIMOvibration testing system 200 for mechanical testing in accordance withembodiments of the present invention is shown. Blocks with referencenumbers the same as other Figures are the same and perform the samefunctions as previously described. In the example shown in FIG. 2 c ,the system under test 220 includes 16 power amps 224 to drive multipleshakers 225 to drive the shake table and test article, and 24 controlaccelerometers M as the control sensor transducers described above.However, as explained above, there may be more or fewer poweramps/drivers 224 and control accelerometers M. The enhanced MIMOvibration testing described in FIG. 2 c functions as describedpreviously in the description of simplified diagram FIG. 2 a . However,as will be understood by those with ordinary skill in the art, theenhanced MIMO testing system shown in FIG. 2 c is specificallyconfigured for mechanical testing. The reference numbers 270, 280, 290,and 300 identify the processing blocks needed to measure the controlresponse SDM [G_(cc)(f)] 300. The reference numbers 340, 350, 360, and370 identify the processing blocks used to create the MIMO controlsystem's 200 16 output-drives 370. The reference number 330 identify theblock used to contain the control reference SDM [G_(rr)(f)] 330. Thereference number 410 is for comparing [G_(cc)(f)] against its tolerancean abort bounds. The graphics subsystem 420 is to display the testresults for the test engineer (system user) to view.

Referring to FIG. 5 a , an example of a spectral density matrix (SDM),[G_(rr)(f)], is shown which represents the predetermined initialreference specification for the test, where the number of rows andcolumns is equal to M which corresponds to the number of control sensortransducers M, in accordance with an embodiment of the presentinvention. As will be understood by those with ordinary skill in theart, the diagonal elements represent the desired spectral magnituderesponses at the locations of the control sensor transducers and the offdiagonal elements represent desired specifications for relativecoherence and phase between the responses of the control sensorlocations, where the above diagonal rows are the transposedcomplex-conjugates of their corresponding below diagonal columns, toensure a Hermitian and an at least positive semi-definite [G_(rr)(f)]result.

Referring to FIG. 5 b , an example of an SDM, [G_(cc)(f)], is shownwhich represents the actual measured responses at the locations of thecontrol sensor transducers during operation at a level substantiallybelow the full testing level once a stable operating configuration isachieved, where the number of rows and columns is equal to M, whichcorresponds to the number of control sensor transducers M, in accordancewith an embodiment of the present invention. As will be well understoodby those with ordinary skill in the art, these actual measured responseswill differ from the predetermined initial reference specificationaccording to the many real-world limitations of the vibration testsystem and facility discussed previously. As described above,[G_(cc)(f)] is also required to be Hermitian and at least positivesemi-definite, its above diagonal rows need to be the transposedcomplex-conjugates of their corresponding below diagonal columns.

Referring to FIG. 4 , a simplified block diagram is shown of thecreation of the SDM for the Modified Reference Specification[G_(mod_rr)(f)] from the predetermined initial Reference Specificationor a previously modified Reference Specification [G_(rr)(f)] and the SDMfor control sensor transducer responses [G_(cc)(f)] in accordance withan embodiment of the present invention. Referring to FIG. 5 c an exampleis shown of how the elements of the SDM for the Modified ReferenceSpecification [G_(mod_rr)(f)] are derived from the predetermined initialReference Specification or a previously modified referencespecification, [G_(rr)(f)] and the SDM for the control sensor transducerresponses, [G_(cc)(f)] in accordance with an embodiment of the presentinvention. As shown in FIG. 5 c , the diagonal elements of the ModifiedReference Specification [G_(mod_rr)(f)] are the same as the diagonalelements of the predetermined initial or previously modified ReferenceSpecification [G_(rr)(f)], which represent the desired spectralmagnitude responses at the control locations. The below diagonalelements, K_(ijk)G_(cc)(i,j,f_(k)), of the Modified ReferenceSpecification [G_(mod_rr)(f)] are derived by creating the product ofK_(ijk), which is a ratio that is representative of the product betweeneach control location pair implied by the predetermined initialreference specification divided by the product between each controllocation pair implied by the actual measured control location responsesduring low level operation according to the formula below for K_(ijk),and the corresponding below diagonal element of [G_(cc)(f)], given byG_(cc)(i,j,f_(k)) as shown in FIG. 5 c .

$K_{ijk} = \sqrt{\frac{{G_{rr}\left( {i,i,f_{k}} \right)}{G_{rr}\left( {j,j,f_{k}} \right)}}{{G_{cc}\left( {i,i,f_{k}} \right)}{G_{cc}\left( {j,j,f_{k}} \right)}}}$

for k=1 to the number of spectral lines, i=2 to M, and j=1 to i−1, wherethe number of spectral lines are determined by the definition of[G_(rr)(f)] consistent with the number of frequencies analyzed by theFast Fourier Transform (FFT) spectrum analyzer used by the MIMOvibration controller used to determine [G_(cc)(f)] SDM, as will be willbe familiar to those with ordinary skill in the art.

As also shown in FIG. 5 c , the above diagonal rows of [G_(mod_rr)(f)]are derived by taking the transposed complex conjugates of thepreviously obtained below diagonal columns of [G_(mod_rr)(f)]. Thisensures that the resulting SDM representing the resulting ModifiedReference Specification [G_(mod_rr)(f)] is both at least positivesemi-definite and Hermitian, while also being computationally efficientas compared to other formulations that may be mathematically equivalent,but not as efficient and may suffer from numerical precision problemsthat may produce ill-conditioned results. This method also ensures thatthe off diagonal elements of the resulting Modified ReferenceSpecification [G_(mod_rr)(f)], which represent relative coherence andphase between control locations, incorporate the real-world limitationsof the vibration test system and facility.

Referring to FIG. 3 , a simplified block diagram of a MIMO vibrationtesting system operating at full testing level in accordance with anembodiment of the present invention is shown. Blocks with referencenumbers the same as FIG. 2 a are the same and perform the same functionsas previously described. For full testing level operation the ModifiedReference Specification is recalled from the Modified ReferenceSpecification Storage 250 and loaded into the MIMO Vibration Controller210 by the Reference Import 255. Once the Modified ReferenceSpecification is loaded the vibration testing system operates in thenormal manner using the Modified Reference Specification as the targetspecification for the responses at the control points. Since theModified Reference Specification incorporates the actual performance ofthe vibration test system into the modified off diagonal elementsdescribing phase and coherence relationships the resulting full leveltest performance is able to maintain a closer correspondence to thepredetermined initial reference spectral specifications with lessrequired system drive power, as a function of the predetermined initialreference, and less risk of damage to the test system and to the testarticle during the performance of a test.

Experiments have also shown that use of the Modified ReferenceSpecification allows the vibration test system to achieve improvedoverall results for coherence and phase in addition to improved spectraluniformity and less required system drive power. Referring to FIGS. 6 a,6 b and 6 c results are shown comparing the performance of aconventional MIMO acoustic vibration testing system utilizing a Mixingand Filtering Subsystem such as disclosed in U.S. Pat. No. 9,683,912 tothe embodiment in accordance with the present invention described inFIG. 2 b . As will be readily understood by those with ordinary skill inthe art significant improvements in spectral uniformity are shown inFIGS. 6 a and 6 b . Referring to FIG. 6 c substantial improvements inreducing coherence are also shown.

In particular, FIG. 6 a shows a comparison of the average of thediagonal elements of the control-response SDM [G_(cc)(f)], obtained withan unmodified MIMO Acoustic Vibration Controller using a mixer toachieve rectangular control in conjunction with certain MIMO controllersthat operate with square control, but with provisions for the mixer, asdescribed in U.S. Pat. No. 9,683,912 B2, shown by its solid traces, andwith an enhanced MIMO Acoustic Vibration Controller shown by FIG. 2 b ,also with the same mixer and square control as before, shown by itsdashed traces, to show the improvement in the control performance thatthe invention provides. The first element of the initial referencespectral vector is also shown in FIG. 6 a by the dash-dot trace, whichalso shows how well its average performance corresponds to the initialdefined reference specification by the diagonal elements of [G_(rr)(f)].FIG. 6 a teaches that the average of the control-response SDM's diagonalelements obtained with the unmodified MIMO controller shown by its solidtrace show greater errors and have a higher noise floor than thoseobtained with the enhanced MIMO controller using the invention shown byits dashed trace, thus illustrating the improvement that the newinvention provides using the methods that have been described.

Further, FIG. 6 b shows a comparison of the average of the diagonalelements of the control-response SDM [G_(cc)(f)] obtained with anunmodified MIMO Acoustic Vibration Controller, during another test,using a mixer to achieve rectangular control in conjunction with certainMIMO controllers that operate with square control, but with provisionsfor the mixer shown by its solid trace, as in FIG. 6 a , and with anenhanced MIMO Acoustic Vibration Controller, but this time usingrectangular control and no mixer, to show the improvement in the controlperformance that the invention further provides, shown by its dashedtrace. The first element of the initial reference spectral vector isalso shown in FIG. 6 b by the dash-dot trace, which also shows how wellits average performance corresponds to the initially defined by thediagonal elements of [G_(rr)(f)]. FIG. 6 b also teaches that the averageof the control-response SDM's diagonal elements obtained with theunmodified MIMO controller (shown by its solid trace) show greatererrors than those obtained with modified MIMO controller using theinvention (shown by its dashed trace). Notice that the controlperformance obtained with the invention is now better with enhancedrectangular control than before with the square control obtained withthe use of the Mixer shown by FIG. 6 a . Thus, FIG. 6 b teaches thefurther improvement that described invention provides in conjunctionwith enhanced rectangular control, as a result of the use of the methodsthat have been previously described.

FIG. 6 c shows the comparison of achieved coherence between closelyspaced control-transducers, obtained with an unmodified MIMO controller(by its solid trace), as in FIGS. 6 a and 6 b , and the achievedcoherence using a modified MIMO controller as previously described (byits dashed trace). The lower chart shows the comparison of achievedcoherence between control-transducers that are further apart that areobtained with an unmodified MIMO controller (shown by its solid trace),as in FIGS. 6 a and 6 b , and the achieved coherence using a modifiedMIMO controller as previously described (shown by its dashed trace).FIG. 6 c teaches that the relative coherence between control-transducersSDM's off-diagonal elements obtained with the unmodified MIMO controller(shown by its solid trace) show greater relative coherence that thecorresponding relative coherence obtained with modified MIMO controllerusing the invention (shown by its dashed trace). Thus for MIMO AcousticVibration control, the modified MIMO controller approximates a diffusefield much better than an unmodified MIMO controller, with its lowerattained coherence, which is another primary goal of a MIMO acousticvibration test.

Referring back to FIG. 2 a , a simplified block diagram of a MIMOvibration testing system in accordance with another embodiment of thepresent invention is also shown. Blocks with reference numbers the sameas previous Figures are the same and perform the same functions aspreviously described. In this case the previously stored ModifiedReference Specification may be from a previous test or test setup ortest conditions may have changed sufficiently to make furthermodification of the reference specification desirable. Accordingly, aFeedback Loop 230 as shown in FIG. 2 a is provided so that after loadingof the previously stored Modified Reference Specification the vibrationtest system can be operated at a level well below the full testing leveland actual control location responses can be recorded as was the casefor the previous discussion of FIG. 2 a for the purpose of creating andrecording a new Modified Reference Specification according to the sameprocess described when referring to FIGS. 4, 5 a, 5 b and 5 c. However,in this case the starting point is the Modified Reference Specification,[G_(mod_rr)(f)], which is combined with a new control response SDM,[G_(cc)(f)], using the process previously described when referring toFIG. 4 and FIG. 5 c to produce a new Modified Reference Specification,[G_(mod_rr)(f)], which can be stored for later use or may be loadedimmediately and used for a full level test. Such additional modificationof a previously modified reference specification eliminates the greatertime required to create the first modified reference specification andmay produce a further modified reference specification that permits thesystem to achieve even better results as test conditions change.

Recent testing has shown that manual modifications of the off-diagonalelements of the predetermined initial reference specification allowusers to tradeoff the achieved spectral uniformity discussed above withrespect to FIGS. 6 a-6 c for further reductions in required system drivepower needed by a particular MIMO test, e.g. by modifying thepredetermined initial reference specification “slightly” by increasingthe specified relative coherence values in the initial reference'soff-diagonal elements. Testing has shown that this effect is non-linear,which is dependent on the definition of the predetermined initialreference specification and the particular testing facility, wheretypically, the larger the modification the larger the reduction inrequired drive power, but also the larger the reduction in achievedcontrol accuracy, but where smaller modifications, as described in theSummary above produce tolerable reductions in achieved control accuracy.FIG. 7 shows an example of some of these results, with a comparison ofthe required system drive PSDs (power spectral densities) between a testrun using a modified reference specification obtained using anunmodified predetermined initial reference specification with allinitially specified coherences between control microphone responses setto 0.0 for all frequencies, i.e. specifying a diffuse acoustic field,which is shown by the solid trace, and a second test run using amodified reference specification obtained with a modified predeterminedinitial reference specification with all references set to 0.05 forfrequencies between 25 Hz and 50 Hz, i.e. specifying a nearly diffuseacoustic field, which is shown by the dashed trace. By looking at the 4plots of the PSDs for each of the 4 drives used to excite each of 2separate sets of speaker stacks, for a total of 8 speaker stacks thatwere used during the test, while using 24 control microphones. As can beseen, FIG. 7 clearly shows that the solid trace for each of the 4 driveshas higher amplitudes in V²/Hz than the dashed trace, also in V²/Hz, forfrequencies between 25 Hz 50 Hz, by as much as a factors greater than 3,depending on the individual drive. Since the maximum drive power, asshown by the PSDs that display required speaker stack drive powerdensity as a function of frequency, occurs in this range of frequencies,the use of the invention with a so modified predetermined initialreference specification, provides a greater reduction in required systemdrive power than using the unmodified predetermined initial reference,but at the expense of tolerable losses in subsequent control accuracy,as described above in the Summary. This reduction of power allows DFATacoustic testing to be performed at higher acoustic levels with lowerdrive power, for the same speaker stack sets and their power amplifiers,due to this advantage, thus extending the use of loudspeakers foracoustic testing at higher acoustic levels. The same advantage occursfor mechanical testing as has been seen with other tests that have beenperformed. Since the power savings that the use of the invention with anunmodified predetermined initial reference is a function of thepredetermined initial reference specification, the amount of powersavings that using a modified predetermined initial reference provideswill also be a function of the modified predetermined initial referencespecification. But in many cases, to be able to reach a high test level,for either an acoustic or mechanical test with available test equipment,the use of a modified predetermined initial reference as this exampleshows, may be the difference between being able to perform the test ornot with the test equipment that a particular test facility hasavailable.

It will be apparent to those of ordinary skill in the art that many morevariations may be implemented, which fall within the scope of thepresent invention. By way of example and not of limitation, these mayinclude the incorporation into the MIMO Vibration Controller itself ofthe Feedback Loop 230, Modified Reference Specification Derivation 240and Modified Reference Specification Storage 250 of FIG. 2 a and FIG. 3. Alternatively, these elements can be configured with a suitablereference-specification loading device as an add-on for existing MIMOVibration Controllers. Square and rectangular MIMO control schemes maybe used with the present invention as well as drive mixing schemes suchas disclosed in U.S. Pat. No. 9,683,912 all of which fall within thescope of the present invention. The existing predetermined initialreference specification entry software that existing MIMO controlsystems contain is used to modify the predetermined initial referencespecification as described above and are as such part of the presentinvention. Additionally, there are numerous other methods of combiningthe initial reference specification with measured control locationresponses to derive or calculate elements for a Modified ReferenceSpecification SDM, which is more representative of the actualcapabilities of the vibration test system and facility. By way ofexample and not of limitation, matrix methods could be used to calculate[G_(rr_mod)(f)], instead of what is shown in FIG. 5 c , which wouldapproximate the results obtained as in FIG. 5 c , but which may notyield a positive (semi-) definite and Hermitian matrix due tounavoidable numerical errors, and which would not be as computationallyefficient as what FIG. 5 c teaches. A further example and not oflimitation, a simulation of the response characteristics test facilityand of the MIMO vibration controller to obtain a “realistic” [G_(cc)(f)]could be used with the method taught by FIG. 5 c , or other suchcomputational methods that yield an approximate resulting[G_(rr_mod)(f)], could be used, but which would be limited by the degreeto which the so obtained [G_(cc)(f)] captures the aforementioned testingand MIMO control limitations that may be present. All of these also fallwithin the scope of the present invention.

What is claimed is:
 1. A vibration testing system comprising: at leasttwo separately controllable groups of vibration transducers and at leasttwo control sensor transducers; a controller coupled to the at least twoseparately controllable groups of vibration transducers and at least twocontrol sensor transducers, wherein the controller is configured to runa vibration pre-test using MIMO control at substantially below a fulltest level utilizing a predetermined initial reference specification ora previously modified initial reference specification, and create amodified reference specification based on actual system performanceduring the vibration pre-test at substantially below a full test level.2. The vibration testing system of claim 1, wherein the controller isconfigured to run the vibration pre-test utilizing the previouslymodified initial reference specification, wherein the previouslymodified initial reference specification is obtained by manuallymodifying the predetermined initial reference specification in order tocreate the modified reference specification based on actual systemperformance during the vibration pre-test at substantially below a fulltest level, and wherein the controller is further configured to run avibration test using the modified reference specification that requiresless required system drive power than running a vibration test using themodified reference specification obtained using an unmodifiedpredetermined initial reference specification.
 3. The vibration testingsystem of claim 1, wherein the controller is further configured to run avibration test using the modified reference specification that requiresless system drive power than running a vibration test using anunmodified reference specification, as a function of the predeterminedinitial reference specification in use, given the same testing facilityand test conditions.
 4. The vibration testing system of claim 3, whereinutilizing the modified reference specification enables closercorrespondence to the predetermined initial reference specification withless required system drive power, as a function of the predeterminedinitial reference, and less risk of damage to the test system and thetest article during the performance of a test
 5. The vibration testingsystem of claim 1, wherein the controller is configured to create themodified reference specification by utilizing the predetermined initialreference specification or previously modified initial referencespecification, wherein the predetermined initial reference specificationor previously modified initial reference specification is expressed as areference spectral density matrix [G_(rr)(f)], measuring controllocation responses during operation under the vibration pre-test usingMIMO control at substantially below a full test level utilizing thepredetermined initial reference specification or the previously modifiedinitial reference specification, wherein the control location responsesare represented by a control response spectral density matrix[G_(cc)(f)], and creating the modified reference specification expressedas a modified spectral density matrix [G_(mod_rr)(f)], wherein thediagonal elements of the modified spectral density matrix[G_(mod_rr)(f)] are the same as in the reference spectral density matrix[G_(rr)(f)] and wherein each of the below diagonal elements of themodified spectral density matrix [G_(mod_rr)(f)] are equal to the belowdiagonal elements of the reference spectral [G_(rr)(f)] multiplied by afactor, [K_(ijk)], which is a ratio that is representative of theproduct between each control location pair implied by the predeterminedinitial reference specification or the previously modified initialreference specification divided by the product between each controllocation pair implied by the actual measured control location responsesduring low level operation, and wherein the above diagonal rows of themodified spectral density matrix [G_(mod_rr)(f)] are equal to thecomplex conjugate transpose of the below diagonal columns of themodified spectral density matrix [G_(mod_rr)(f)].
 6. The vibrationtesting system of claim 5, wherein the previously modified initialreference specification is obtained by manually increasing values ofchosen off-diagonal coherence elements of an initial reference spectraldensity matrix slightly to tradeoff how close the correspondence to thediagonal elements of the reference spectral density matrix [G_(rr)(f)]and the control response spectral density matrix [G_(cc)(f)] are in asubsequent test that uses the modified spectral density matrix[G_(mod_rr)(f)] that results from using the previously modified initialreference specification, in order to further reduce required systemdrive power within chosen frequency ranges, as compared to a test runwith a modified spectral density matrix [G_(mod_rr)(f)] obtained usingan unmodified predetermined initial reference specification, given thesame testing facility and test conditions.
 7. The vibration testingsystem of claim 1, wherein the at least two separately controllablegroups of vibration transducers are acoustic transducers and the atleast two control sensor transducers are control microphones.
 8. Thevibration testing system of claim 1, wherein the at least two separatelycontrollable groups of vibration transducers are shakers and the atleast two control sensor transducers are accelerometers or othermechanical vibration sensing transducers.
 9. A method of vibrationtesting a test article, the method comprising: running a vibrationpre-test using MIMO control at substantially below a full test levelutilizing a predetermined initial reference specification or apreviously modified initial reference specification using a systemhaving at least two separately controllable groups of vibrationtransducers and at least two control sensor transducers, and creating amodified reference specification based on actual system performanceduring the vibration pre-test at substantially below a full test level.10. The method of claim 9, further comprising running a vibration testusing the modified reference specification.
 11. The method of claim 10,wherein utilizing the modified reference specification enables closercorrespondence to the predetermined initial reference specification withless required system drive power, as a function of the predeterminedinitial reference, and less risk of damage to the test system and thetest article during the performance of a test
 12. The method of claim 9,wherein the step of creating the modified reference specificationcomprises: utilizing the predetermined initial reference specificationor previously modified initial reference specification, wherein thepredetermined initial reference specification or previously modifiedinitial reference specification is expressed as a reference spectraldensity matrix [G_(rr)(f)], measuring control location responses duringoperation under the vibration pre-test using MIMO control atsubstantially below a full test level utilizing the predeterminedinitial reference specification or the previously modified reference,wherein the control location responses are represented by a controlresponse spectral density matrix [G_(cc)(f)], and creating the modifiedreference specification expressed as a modified spectral density matrix[G_(mod_rr)(f)], wherein the diagonal elements of the modified spectraldensity matrix [G_(mod_rr)(f)] are the same as in the reference spectraldensity matrix [G_(rr)(f)] and wherein each of the below diagonalelements of the modified spectral density matrix [G_(mod_rr)(f)] areequal to the below diagonal elements of the reference spectral[G_(rr)(f)] multiplied by a factor, [K_(ijk)], which is a ratio that isrepresentative of the product between each control location pair impliedby the predetermined initial reference specification divided by theproduct between each control location pair implied by the actualmeasured control location responses during low level operation, andwherein the above diagonal rows of the modified spectral density matrix[G_(mod_rr)(f)] are equal to the complex conjugate transposes of thebelow diagonal columns of the modified spectral density matrix[G_(mod_rr)(f)].
 13. The method of claim 9, wherein the at least twoseparately controllable groups of vibration transducers are acoustictransducers and the at least two control sensor transducers are controlmicrophones.
 14. The method of claim 9, wherein the at least twoseparately controllable groups of vibration transducers are shakers andthe at least two control sensor transducers are accelerometers.